Preliminary results of force/torque sensorless impedance control for Walkbot.
Quoc Van TranSehun KimKyunghwan LeeJeha RyuPublished in: URAI (2015)
Keyphrases
- impedance control
- position control
- control algorithm
- force control
- control scheme
- control strategy
- contact force
- closed loop
- robotic manipulator
- control system
- model free
- control strategies
- optimal control
- control law
- robot arm
- dc motor
- degrees of freedom
- feedback loop
- robot manipulators
- end effector
- pid controller
- manipulation tasks
- control method
- pid control
- dynamic model
- control architecture
- induction motor
- finite element analysis
- dynamic programming
- real time